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refactor failsafeActivate, all recovery times the same

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Simpler GPS Rescue fix
100ms interval for signalReceived failure
Faster failsafe stick response
Update and confirm unit tests work correctly
Restore invalid flight channel ability to trigger failsafe with individual timers
Set default failsafe stage 1 delay to 1.5 seconds, approximately match previous delay of 1.6s when the user selected 1.0 seconds.
Update failsafe documentation for 4.3
Arming blocked soon after Rx initialisation
Unit test fix for previous commit
Editorial changes and typo fixes
This commit is contained in:
ctzsnooze 2022-04-04 00:15:15 +10:00
parent 642689dfc7
commit ee024aff0c
11 changed files with 859 additions and 361 deletions
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src/main/fc/core.c
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@ -985,7 +985,7 @@ void processRxModes(timeUs_t currentTimeUs)
}
#ifdef USE_GPS_RESCUE
if (ARMING_FLAG(ARMED) && (IS_RC_MODE_ACTIVE(BOXGPSRESCUE) || (failsafeIsActive() && failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_GPS_RESCUE))) {
if (ARMING_FLAG(ARMED) && IS_RC_MODE_ACTIVE(BOXGPSRESCUE)) {
if (!FLIGHT_MODE(GPS_RESCUE_MODE)) {
ENABLE_FLIGHT_MODE(GPS_RESCUE_MODE);
}